add events for state machine

boards/recovery/src/data_manager.rs

@@ -141,6 +141,7 @@ impl DataManager {
             messages::Data::Sensor(sensor) => match sensor.data {
                 messages::sensor::SensorData::Air(air_data) => {
                     /*
+
                        NOTE!!!
                        There should be added a counter to check how many times
                        the alt is dropped, if the number is high switch to

boards/recovery/src/state_machine/mod.rs

@@ -12,6 +12,7 @@ use defmt::Format;
 use enum_dispatch::enum_dispatch;
 use messages::state;
 use rtic::Mutex;
+pub use states::Abort;
 pub use states::Initializing;
 
 pub trait StateMachineSharedResources {
@@ -61,6 +62,26 @@ impl StateMachine {
         }
     }
 
+    pub fn handle_event(&mut self, _event: RocketEvents, context: &mut StateMachineContext) {
+        if let Some(new_state) = self.state.event(event) {
+            self.state.exit();
+            new_state.enter(context);
+            self.state = new_state;
+        } else {
+            match event {
+                RocketEvents::DeployDrogue(true) => todo!(),
+                RocketEvents::DeployMain(true) => todo!(),
+                RocketEvents::Abort => {
+                    self.state.exit();
+                    let new_state = RocketStates::Abort(Abort {});
+                    // new_state.enter(context);
+                    self.state = new_state;
+                }
+                _ => {}
+            }
+        }
+    }
+
     pub fn get_state(&self) -> RocketStates {
         self.state.clone()
     }
@@ -74,8 +95,9 @@ impl Default for StateMachine {
 
 // All events are found here
 pub enum RocketEvents {
-    DeployDrogue,
-    DeployMain,
+    DeployDrogue(bool),
+    DeployMain(bool),
+    Abort,
 }
 
 // All states are defined here. Another struct must be defined for the actual state, and that struct

boards/recovery/src/state_machine/states/descent.rs

@@ -1,12 +1,13 @@
 use super::Ascent;
 use crate::app::fire_drogue;
 use crate::state_machine::{
-    RocketStates, State, StateMachineContext, TerminalDescent, TransitionInto,
+    RocketEvents, RocketStates, State, StateMachineContext, TerminalDescent, TransitionInto,
 };
 use crate::{no_transition, transition};
 use common_arm::spawn;
 use defmt::{write, Format, Formatter};
 use rtic::mutex::Mutex;
+use typenum::False;
 
 #[derive(Debug, Clone)]
 pub struct Descent {}
@@ -27,6 +28,16 @@ impl State for Descent {
             }
         })
     }
+
+    fn event(&mut self, event: RocketEvents, context: &mut StateMachineContext) -> Option<RocketStates> {
+        match event {
+            RocketEvents::DeployDrogue(false) => context.shared_resources.em.run(|| {
+                spawn!(fire_drogue)?;
+                Ok(())
+            }),
+            _ => None,
+        }
+    }
 }
 
 impl TransitionInto<Descent> for Ascent {

boards/recovery/src/state_machine/states/terminal_descent.rs

@@ -1,7 +1,7 @@
 use super::Descent;
 use crate::app::fire_main;
 use crate::state_machine::{
-    RocketStates, State, StateMachineContext, TransitionInto, WaitForRecovery,
+    RocketEvents, RocketStates, State, StateMachineContext, TransitionInto, WaitForRecovery,
 };
 use crate::{no_transition, transition};
 use atsamd_hal::prelude::_embedded_hal_timer_CountDown;
@@ -37,6 +37,15 @@ impl State for TerminalDescent {
             }
         })
     }
+    fn event(&mut self, event: RocketEvents, context: &mut StateMachineContext) -> Option<RocketStates> {
+        match event {
+            RocketEvents::DeployMain(false) => context.shared_resources.em.run(|| {
+                spawn!(fire_main)?;
+                Ok(())
+            }),
+            _ => None,
+        }
+    }
 }
 
 impl TransitionInto<TerminalDescent> for Descent {